*/
#include "common.h"
+#include "control.h"
#include "sensor.h"
#include "options.h"
#include <math.h>
/** Array of sensors, initialised by Sensor_Init **/
static Sensor g_sensors[NUMSENSORS]; //global to this file
+/** Array of sensor threshold structures defining the safety values of each sensor**/
+const SensorThreshold thresholds[NUMSENSORS]= {
+ //Max Safety, Min safety, Max warning, Min warning
+ {1,-1,1,-1}, // ANALOG_TEST0
+ {500,0,499,0}, // ANALOG_TEST1
+ {5,-5,4,-4}, // ANALOG_FAIL0
+ {1,0,1,0}, // DIGITAL_TEST0
+ {1,0,1,0}, // DIGITAL_TEST1
+ {1,0,1,0} // DIGITAL_FAIL0
+};
+
/** Human readable names for the sensors **/
const char * g_sensor_names[NUMSENSORS] = {
"analog_test0", "analog_test1",
- "digital_test0", "digital_test1"
+ "analog_fail0", "digital_test0",
+ "digital_test1", "digital_fail0"
};
/**
{
g_sensors[i].id = i;
Data_Init(&(g_sensors[i].data_file));
- g_sensors[i].record_data = false;
+ g_sensors[i].record_data = false;
}
}
{
// Set filename
char filename[BUFSIZ];
- if (sprintf(filename, "%s_%d", experiment_name, s->id) >= BUFSIZ)
+ if (sprintf(filename, "%s_s%d", experiment_name, s->id) >= BUFSIZ)
{
Fatal("Experiment name \"%s\" too long (>%d)", experiment_name, BUFSIZ);
}
}
/**
- * Stop a Sensor from recording DataPoints. Blocks until it has stopped.
- * @param s - The Sensor to stop
+ * Pause a sensor from recording DataPoints. Blocks until it is paused.
+ * @param s - The Sensor to pause
*/
-void Sensor_Stop(Sensor * s)
+void Sensor_Pause(Sensor *s)
{
- // Stop
if (s->record_data)
{
s->record_data = false;
- pthread_join(s->thread, NULL); // Wait for thread to exit
- Data_Close(&(s->data_file)); // Close DataFile
- s->newest_data.time_stamp = 0;
- s->newest_data.value = 0;
+ pthread_join(s->thread, NULL);
}
}
+/**
+ * Resumes a paused sensor.
+ * @param s - The Sensor to resume
+ */
+void Sensor_Resume(Sensor *s)
+{
+ if (!s->record_data)
+ {
+ s->record_data = true;
+ pthread_create(&(s->thread), NULL, Sensor_Loop, (void*)(s));
+ }
+}
+
+/**
+ * Stop a Sensor from recording DataPoints. Blocks until it has stopped.
+ * @param s - The Sensor to stop
+ */
+void Sensor_Stop(Sensor * s)
+{
+ Sensor_Pause(s);
+ Data_Close(&(s->data_file)); // Close DataFile
+ s->newest_data.time_stamp = 0;
+ s->newest_data.value = 0;
+}
+
/**
* Stop all Sensors
*/
Sensor_Stop(g_sensors+i);
}
+void Sensor_PauseAll()
+{
+ for (int i = 0; i < NUMSENSORS; ++i)
+ Sensor_Pause(g_sensors+i);
+}
+
+void Sensor_ResumeAll()
+{
+ for (int i = 0; i < NUMSENSORS; ++i)
+ Sensor_Resume(g_sensors+i);
+}
+
/**
* Start all Sensors
*/
Sensor_Start(g_sensors+i, experiment_name);
}
+
+/**
+ * Checks the sensor data for unsafe or unexpected results
+ * @param sensor_id - The ID of the sensor
+ * @param value - The value from the sensor to test
+ */
+void Sensor_CheckData(SensorId id, double value)
+{
+ if( value > thresholds[id].max_error || value < thresholds[id].min_error)
+ {
+ Log(LOGERR, "Sensor %s is above or below its safety value of %f or %f\n", g_sensor_names[id],thresholds[id].max_error, thresholds[id].min_error);
+ //new function that stops actuators?
+ }
+ else if( value > thresholds[id].max_warn || value < thresholds[id].min_warn)
+ {
+ Log(LOGWARN, "Sensor %s is above or below its warning value of %f or %f\n", g_sensor_names[id],thresholds[id].max_warn, thresholds[id].min_warn);
+ }
+}
+
+
/**
* Read a DataPoint from a Sensor; block until value is read
* @param id - The ID of the sensor
// Set time stamp
struct timeval t;
gettimeofday(&t, NULL);
- d->time_stamp = TIMEVAL_DIFF(t, g_options.start_time);
+ d->time_stamp = TIMEVAL_DIFF(t, *Control_GetStartTime());
// Read value based on Sensor Id
switch (s->id)
case ANALOG_TEST0:
d->value = (double)(rand() % 100) / 100;
break;
-
case ANALOG_TEST1:
{
static int count = 0;
+ count %= 500;
d->value = count++;
break;
}
+ case ANALOG_FAIL0:
+ d->value = (double)(rand() % 6) * -( rand() % 2) / ( rand() % 100 + 1);
+ //Gives a value between -5 and 5
+ break;
case DIGITAL_TEST0:
d->value = t.tv_sec % 2;
break;
case DIGITAL_TEST1:
d->value = (t.tv_sec+1)%2;
break;
+ case DIGITAL_FAIL0:
+ if( rand() % 100 > 98)
+ d->value = 2;
+ d->value = rand() % 2;
+ //Gives 0 or 1 or a 2 every 1/100 times
+ break;
default:
Fatal("Unknown sensor id: %d", s->id);
break;
usleep(100000); // simulate delay in sensor polling
// Perform sanity check based on Sensor's ID and the DataPoint
- Sensor_CheckData(s->id, d);
+ Sensor_CheckData(s->id, d->value);
// Update latest DataPoint if necessary
bool result = (d->value != s->newest_data.value);
return result;
}
-/**
- * Checks the sensor data for unsafe or unexpected results
- * @param sensor_id - The ID of the sensor
- * @param d - DataPoint to check
- */
-void Sensor_CheckData(SensorId id, DataPoint * d)
-{
- //TODO: Implement
- /*
- switch (sensor_id)
- {
- case ANALOG_TEST0:
- {
- if( *sensor value* > ANALOG_TEST0_SAFETY)
- {
- LogEx(LOGERR, GetData, Sensor analog_test0 is above the safe value);
- //new log function that stops actuators?
- }
- //Also include a warning level?
- else if( *sensor value* > ANALOG_TEST0_WARN)
- {
- LogEx(LOGWARN, GetData, Sensor analog_test0);
- }
- }
- }
- */
-}
-
-
/**
* Record data from a single Sensor; to be run in a seperate thread
* @param arg - Cast to Sensor* - Sensor that the thread will handle
/**
* Helper: Begin sensor response in a given format
* @param context - the FCGIContext
- * @param format - Format
* @param id - ID of sensor
+ * @param format - Format
*/
void Sensor_BeginResponse(FCGIContext * context, SensorId id, DataFormat format)
{
case JSON:
FCGI_BeginJSON(context, STATUS_OK);
FCGI_JSONLong("id", id);
- FCGI_JSONKey("data");
break;
default:
FCGI_PrintRaw("Content-type: text/plain\r\n\r\n");
{
struct timeval now;
gettimeofday(&now, NULL);
- double current_time = TIMEVAL_DIFF(now, g_options.start_time);
+ double current_time = TIMEVAL_DIFF(now, *Control_GetStartTime());
int id = 0;
double start_time = 0;
double end_time = current_time;
- char * fmt_str;
+ const char * fmt_str;
// key/value pairs
FCGIValue values[] = {
- {"id", &id, FCGI_REQUIRED(FCGI_LONG_T)},
+ {"id", &id, FCGI_REQUIRED(FCGI_INT_T)},
{"format", &fmt_str, FCGI_STRING_T},
{"start_time", &start_time, FCGI_DOUBLE_T},
{"end_time", &end_time, FCGI_DOUBLE_T},
return;
}
- // Get Sensor
- Sensor * s = NULL;
-
// Error checking on sensor id
if (id < 0 || id >= NUMSENSORS)
{
- Log(LOGERR, "Invalid id %d", id);
- }
- else
- {
- s = g_sensors+id;
+ FCGI_RejectJSON(context, "Invalid sensor id");
+ return;
}
-
- DataFormat format = JSON;
+ Sensor * s = g_sensors+id;
- // Check if format type was specified
- if (FCGI_RECEIVED(values[FORMAT].flags))
- {
- if (strcmp(fmt_str, "json") == 0)
- format = JSON;
- else if (strcmp(fmt_str, "tsv") == 0)
- format = TSV;
- else
- Log(LOGERR, "Unknown format type \"%s\"", fmt_str);
- }
+ DataFormat format = Data_GetFormat(&(values[FORMAT]));
-
-
// Begin response
Sensor_BeginResponse(context, id, format);
-
- // If a time was specified
- if ((s != NULL) && (FCGI_RECEIVED(values[START_TIME].flags) || FCGI_RECEIVED(values[END_TIME].flags)))
- {
- // Wrap times relative to the current time
- if (start_time < 0)
- start_time += current_time;
- if (end_time < 0)
- end_time += current_time;
- // Print points by time range
- Data_PrintByTimes(&(s->data_file), start_time, end_time, format);
-
- }
- else if (s != NULL) // No time was specified; just return a recent set of points
- {
- pthread_mutex_lock(&(s->data_file.mutex));
- int start_index = s->data_file.num_points-DATA_BUFSIZ;
- int end_index = s->data_file.num_points-1;
- pthread_mutex_unlock(&(s->data_file.mutex));
-
- // Bounds check
- if (start_index < 0)
- start_index = 0;
- if (end_index < 0)
- end_index = 0;
-
- // Print points by indexes
- Log(LOGDEBUG, "Sensor %d file \"%s\" indexes %d->%d", s->id, s->data_file.filename, start_index, end_index);
- Data_PrintByIndexes(&(s->data_file), start_index, end_index, format);
- }
+ // Print Data
+ Data_Handler(&(s->data_file), &(values[START_TIME]), &(values[END_TIME]), format, current_time);
// Finish response
Sensor_EndResponse(context, id, format);
-
}
+
git.ucc.asn.au / matches / MCTX3420.git / blobdiff
UCC git Repository :: git.ucc.asn.au